US20110154938A1 - Robot arm assembly - Google Patents

Robot arm assembly Download PDF

Info

Publication number
US20110154938A1
US20110154938A1 US12/913,963 US91396310A US2011154938A1 US 20110154938 A1 US20110154938 A1 US 20110154938A1 US 91396310 A US91396310 A US 91396310A US 2011154938 A1 US2011154938 A1 US 2011154938A1
Authority
US
United States
Prior art keywords
joint
robot arm
arm assembly
connecting portion
hole
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US12/913,963
Other languages
English (en)
Inventor
Jun Liu
Chun-Ming Zhang
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Original Assignee
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hongfujin Precision Industry Shenzhen Co Ltd, Hon Hai Precision Industry Co Ltd filed Critical Hongfujin Precision Industry Shenzhen Co Ltd
Assigned to HONG FU JIN PRECISION INDUSTRY (SHENZHEN) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD. reassignment HONG FU JIN PRECISION INDUSTRY (SHENZHEN) CO., LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: LIU, JUN, ZHANG, Chun-ming
Publication of US20110154938A1 publication Critical patent/US20110154938A1/en
Abandoned legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0283—Three-dimensional joints
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20329—Joint between elements

Definitions

  • the present disclosure relates to robotic technologies, and particularly, to a robot arm assembly.
  • Industrial robots generally include robot arm assemblies pivotally connected in sequence. Each arm assembly can rotate relative to the others when driven by a motor. Performance parameters such as precision, loading ability, and stability are determined by the position relationships and the driving relationships among the components arranged at a plurality of pivotal portions of the robot arm assemblies.
  • a commonly used robot arm assembly includes a first joint, a second joint, a flange, and a rotary bearing.
  • the first joint is substantially cylindrical and rotatably connected to the second joint.
  • the second joint and the flange are received in the first joint.
  • the rotary bearing is sleeved on the second joint.
  • the flange is fixed on an open end of the second joint, such that the rotary bearing is limited in the first joint.
  • the robot arm assembly provides a plurality of electrical circuit cables and an airflow duct located between the first joint and the second joint. However, when the second joint rotates relative to the first joint at an angle less than 360°, the electrical circuit cables and the airflow duct are easily damaged due to excessive distortion thereof.
  • FIG. 1 is an exploded, isometric view of one embodiment of a robot arm assembly including a first joint, a second joint and a flange.
  • FIG. 2 is similar to FIG. 1 , but viewed from another aspect.
  • FIG. 3 is an isometric view of the flange shown in FIG. 1
  • FIG. 4 is an assembled, isometric view of the robot arm assembly shown in FIG. 1 .
  • FIG. 5 is a cross-sectional isometric view of the robot arm assembly shown in FIG. 1 .
  • a robot arm assembly 100 includes a first joint 10 , a second joint 20 , a rotary member 30 , a bearing 40 , a flange 50 , and a limiting member 60 .
  • the rotary member 30 is received in the second joint 20 and fixed to the first joint 10 .
  • the bearing 40 and the flange 50 are sleeved on the rotary member 30 .
  • the flange 50 is fixed on the second joint 20 , such that the bearing 40 is prevented from detaching from the second joint 20 .
  • the limiting member 60 is located on the flange 50 to prevent the first joint 10 deviating from an axis of the first joint 10 .
  • the first joint 10 includes a main body 11 , a rotary connecting portion 12 , and a limiting portion 13 .
  • the rotary connecting portion 12 is substantially ring-shaped, and located on an end of the main body 11 .
  • the limiting portion 13 is located adjacent to the rotary connecting portion 12 .
  • the first joint 10 further defines a fixing hole 15 in the end of the first joint 10 .
  • the limiting portion 13 is a threaded member received in the fixing hole 15 .
  • the second joint 20 includes a mounting portion 21 , a receiving portion 23 , a stepped hole 25 , and a driving member 27 .
  • the receiving portion 23 is defined in a middle portion of the second joint 20 .
  • the stepped hole 25 is defined in the mounting portion 21 communicating with the receiving portion 23 .
  • the rotary member 30 and the bearing 40 are received in the receiving portion 23 .
  • a larger end of the stepped hole 25 is defined in a side surface of the second joint 20 .
  • the driving member 27 drives the rotary member 30 to rotate.
  • the driving member 27 is a stepper motor.
  • the rotary member 30 includes an axial portion 31 , a first connecting portion 32 , a second connecting portion 35 , and a resisting portion 37 .
  • the first connecting portion 32 and the second connecting portion 35 are located on opposite ends of the axial portion 31 , respectively.
  • the first connecting portion 32 is connected to the first joint 10 .
  • the second connecting portion 35 is connected to the driving member 27 .
  • the resisting portion 37 is positioned at an end of the first connecting portion 32 adjacent to the axial portion 31 .
  • the bearing 40 is substantially circular, and a cross-section of the bearing 40 is substantially rectangular.
  • a diameter of the bearing 40 is less than the maximum diameter of the stepped hole 25 of the second joint 20 , and exceeds the minimum diameter of the stepped hole 25 , such that the bearing 40 is prevented from detaching from the stepped hole 25 .
  • the flange 50 is substantially rectangular, and includes a first end surface 51 and a second end surface 53 opposite to the first end surface 51 .
  • the flange 50 defines a circular through hole 54 in a middle portion of the first end surface 51 and an open ring groove 56 around the through hole 54 .
  • a curve of the open ring groove 56 is less than 360°.
  • the flange 50 further includes a ring protrusion 55 located on a middle portion of an inner surface of the through hole 54 . In the illustrated embodiment, the curve of the open ring groove 56 is about 345°.
  • the limiting member 60 is substantially ring shaped. A diameter of the limiting member 60 is less than that of the through hole 54 . The limiting member 60 is received in the through hole 54 , and resists the ring protrusion 55 .
  • the robot arm assembly 100 further includes a plurality of electrical circuit cables and an airflow duct (not shown).
  • the airflow duct passes through the rotary member 30 , the first joint 10 and the second joint 20 .
  • the rotary member 30 is received in the receiving portion 23 of the second joint 20 via the stepped hole 25 .
  • the second connecting portion 35 of the rotary member 30 is fixed to the driving member 27 .
  • the bearing 40 is received in the stepped hole 25 of the second joint 20 , and contacts the resisting portion 37 .
  • the flange 50 is fixed to the mounting portion 21 of the second joint 20 , such that the bearing 40 is partially received in the through hole 54 .
  • the limiting member 60 is received in the through hole 54 , and resists the ring protrusion 55 .
  • the rotary connecting portion 12 of the first joint 10 is received in the through hole 54 , and connected to the second connecting portion 35 of the rotary member 30 .
  • a free end of the limiting portion 13 of the first joint 10 is received in the open ring groove 56 of the flange 50 .
  • the robot arm assembly 100 can protect the electrical circuit cables and the airflow from being damaged due to excessive distortion.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Lock And Its Accessories (AREA)
US12/913,963 2009-12-30 2010-10-28 Robot arm assembly Abandoned US20110154938A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2009103126640A CN102114637A (zh) 2009-12-30 2009-12-30 机械手臂
CN200910312664.0 2009-12-30

Publications (1)

Publication Number Publication Date
US20110154938A1 true US20110154938A1 (en) 2011-06-30

Family

ID=44185846

Family Applications (1)

Application Number Title Priority Date Filing Date
US12/913,963 Abandoned US20110154938A1 (en) 2009-12-30 2010-10-28 Robot arm assembly

Country Status (2)

Country Link
US (1) US20110154938A1 (zh)
CN (1) CN102114637A (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110265597A1 (en) * 2010-04-29 2011-11-03 Hon Hai Precision Industry Co., Ltd. Robot arm assembly
DE102014114903A1 (de) 2014-10-14 2016-04-14 Hiwin Technologies Corp. Bauart des Drehgelenks eines Gelenkgreifarms
US9527216B2 (en) 2014-09-25 2016-12-27 Hiwin Technologies Corp. Wrist structure for an articulated robotic arm

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103085082B (zh) * 2011-11-04 2015-10-14 鸿富锦精密工业（深圳）有限公司 机器人臂部件
CN102862165B (zh) * 2012-09-25 2015-01-28 杭州电子科技大学 双自由度机器人肩关节舵机
CN103624802A (zh) * 2013-12-09 2014-03-12 广西大学 一种电磁式机器人机构限位装置
CN104802160B (zh) * 2014-01-26 2016-06-08 上银科技股份有限公司 具调整结构的机器手臂
CN106363604A (zh) * 2016-09-05 2017-02-01 珠海格力智能装备有限公司 底座组件及具有其的机器人
CN112338958B (zh) * 2020-10-20 2021-09-14 哈尔滨工业大学 基于气囊充放气致动的模块化柔性扭转关节

Citations (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1551332A (en) * 1925-08-25 A cprpora
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
US4678952A (en) * 1985-08-13 1987-07-07 Intelledex Incorporated Sealed joint for a robot and the like
US4864888A (en) * 1987-04-13 1989-09-12 Mitsubishi Denki Kabushiki Kaisha Robot articulation joint
US4955250A (en) * 1989-06-08 1990-09-11 The United States Of America As Represented By The United States Department Of Energy Multiple forearm robotic elbow configuration
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
US5508686A (en) * 1993-04-16 1996-04-16 Fanuc Ltd. Overtravel detecting device for an industrial robot
US5816107A (en) * 1995-11-20 1998-10-06 Tokico Ltd. Joint for industrial robot
US20020078778A1 (en) * 2000-10-24 2002-06-27 Innovative Robotic Solutions Drive system for multiple axis robot arm
US20050016313A1 (en) * 2003-06-16 2005-01-27 Robertson William C. Manipulator
US20060182609A1 (en) * 2004-11-23 2006-08-17 Guerra Lawrence E Robotic arm for use with pharmaceutical unit of use transport and storage system
US20060179964A1 (en) * 2003-02-07 2006-08-17 Kawasaki Jukogyo Kabushiki Kaisha Articulated manipulator
US20070110555A1 (en) * 2005-10-19 2007-05-17 Seiko Epson Corporation Parallel link mechanism and industrial robot
US7422412B2 (en) * 2004-12-16 2008-09-09 Seiko Epson Corporation Horizontal articulated robot
US20080216596A1 (en) * 2007-03-07 2008-09-11 Disney Enterprises, Inc. Three-axis robotic joint with human-based form factors
US20080258402A1 (en) * 2006-08-31 2008-10-23 Fanuc Ltd Sealing device for joint section of robot and articulated robot having the same
US20090266194A1 (en) * 2008-04-24 2009-10-29 Dongsheng Zhang Robotic arm driving mechanism
US7680551B2 (en) * 2005-04-14 2010-03-16 Panasonic Corporation Method of adjusting origin of industrial robot
US20100224021A1 (en) * 2009-03-09 2010-09-09 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Rotary joint and manipulator using the same
US20110048157A1 (en) * 2009-09-03 2011-03-03 Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. Mechanical arm assembly
US20110265597A1 (en) * 2010-04-29 2011-11-03 Hon Hai Precision Industry Co., Ltd. Robot arm assembly

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1589816A (en) * 1926-01-09 1926-06-22 Pierce Paul Control mechanism for wrapping machines
FR2314390A1 (fr) * 1975-06-13 1977-01-07 Sofermo Articulation modulaire autonome pour mecanismes divers et en particulier pour robots
CN2608404Y (zh) * 2003-02-13 2004-03-31 陈定兴 前轮转向限制装置
CN100453828C (zh) * 2003-12-11 2009-01-21 华硕电脑股份有限公司 可携式计算机
CN201329586Y (zh) * 2008-12-19 2009-10-21 中国科学院沈阳自动化研究所 水下电动机械手关节机构

Patent Citations (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1551332A (en) * 1925-08-25 A cprpora
US4402234A (en) * 1981-08-13 1983-09-06 General Motors Corporation Three-axis wrist mechanism
US4589816A (en) * 1983-04-06 1986-05-20 Mantec Gesellschaft fur Automatisierungs-und Handhabungssysteme mbH Robot joint
US4678952A (en) * 1985-08-13 1987-07-07 Intelledex Incorporated Sealed joint for a robot and the like
US4864888A (en) * 1987-04-13 1989-09-12 Mitsubishi Denki Kabushiki Kaisha Robot articulation joint
US4955250A (en) * 1989-06-08 1990-09-11 The United States Of America As Represented By The United States Department Of Energy Multiple forearm robotic elbow configuration
US5293107A (en) * 1993-02-24 1994-03-08 Fanuc Robotics North America, Inc. Motorized rotary joint and method of constructing a modular robot utilizing same
US5508686A (en) * 1993-04-16 1996-04-16 Fanuc Ltd. Overtravel detecting device for an industrial robot
US5816107A (en) * 1995-11-20 1998-10-06 Tokico Ltd. Joint for industrial robot
US20020078778A1 (en) * 2000-10-24 2002-06-27 Innovative Robotic Solutions Drive system for multiple axis robot arm
US20060179964A1 (en) * 2003-02-07 2006-08-17 Kawasaki Jukogyo Kabushiki Kaisha Articulated manipulator
US7841256B2 (en) * 2003-02-07 2010-11-30 Toyota Jidosha Kabushiki Kaisha Articulated manipulator
US20050016313A1 (en) * 2003-06-16 2005-01-27 Robertson William C. Manipulator
US7175381B2 (en) * 2004-11-23 2007-02-13 Scriptpro Llc Robotic arm for use with pharmaceutical unit of use transport and storage system
US20060182609A1 (en) * 2004-11-23 2006-08-17 Guerra Lawrence E Robotic arm for use with pharmaceutical unit of use transport and storage system
US7422412B2 (en) * 2004-12-16 2008-09-09 Seiko Epson Corporation Horizontal articulated robot
US7680551B2 (en) * 2005-04-14 2010-03-16 Panasonic Corporation Method of adjusting origin of industrial robot
US20070110555A1 (en) * 2005-10-19 2007-05-17 Seiko Epson Corporation Parallel link mechanism and industrial robot
US7513173B2 (en) * 2005-10-19 2009-04-07 Seiko Epson Corporation Parallel link mechanism and industrial robot
US20080258402A1 (en) * 2006-08-31 2008-10-23 Fanuc Ltd Sealing device for joint section of robot and articulated robot having the same
US7878088B2 (en) * 2006-08-31 2011-02-01 Fanuc Ltd Sealing device for joint section of robot and articulated robot having the same
US20080216596A1 (en) * 2007-03-07 2008-09-11 Disney Enterprises, Inc. Three-axis robotic joint with human-based form factors
US20090266194A1 (en) * 2008-04-24 2009-10-29 Dongsheng Zhang Robotic arm driving mechanism
US20100224021A1 (en) * 2009-03-09 2010-09-09 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Rotary joint and manipulator using the same
US20110048157A1 (en) * 2009-09-03 2011-03-03 Hong Fu Jin Precision Industry (Shenzhen)Co., Ltd. Mechanical arm assembly
US20110265597A1 (en) * 2010-04-29 2011-11-03 Hon Hai Precision Industry Co., Ltd. Robot arm assembly

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20110265597A1 (en) * 2010-04-29 2011-11-03 Hon Hai Precision Industry Co., Ltd. Robot arm assembly
US8511199B2 (en) * 2010-04-29 2013-08-20 Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. Robot arm assembly
US9527216B2 (en) 2014-09-25 2016-12-27 Hiwin Technologies Corp. Wrist structure for an articulated robotic arm
DE102014114903A1 (de) 2014-10-14 2016-04-14 Hiwin Technologies Corp. Bauart des Drehgelenks eines Gelenkgreifarms
DE102014114903B4 (de) * 2014-10-14 2021-03-11 Hiwin Technologies Corp. Bauart des Drehgelenks eines Gelenkgreifarms

Also Published As

Publication number Publication date
CN102114637A (zh) 2011-07-06

Similar Documents

Publication Publication Date Title
US20110154938A1 (en) Robot arm assembly
US8714903B2 (en) Robot
US8333526B2 (en) Three degree of freedom universal joint
US8516917B2 (en) Translational branch joint and parallel robot utilizing the same
US8534153B2 (en) Robot arm assembly
US8544359B2 (en) Robot arm assembly
US8978509B2 (en) Robot arm assembly
US20130125696A1 (en) Robot arm assembly
US8757345B2 (en) Magnetic rotational hardstop for robot
US8511199B2 (en) Robot arm assembly
US8881617B2 (en) Robot arm with cable protection structure
US20130118286A1 (en) Robot arm assembly
US8621955B2 (en) Robot arm assembly
US10486304B2 (en) Joint structure and robot
US10245945B2 (en) Driving device and wheeled robot having the same
US20200298426A1 (en) Rotary actuator and robot
US20140183889A1 (en) Suction device
US20090095110A1 (en) Rotational mechanism with a cable-protecting structure
US8769771B2 (en) Rotary shaft wire passage structure
US20110236125A1 (en) Joint structure
IL221990A (en) Multi-stage bending axis
US20130104685A1 (en) Robot arm assembly
US8550925B2 (en) Universal joint
US7975969B2 (en) Rotatable positioning structure
US10817011B2 (en) Rotating device

Legal Events

Date Code Title Description
STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION